Method for a Supercomputer to Mitigate Traffic Collisions with 5G or 6G

ABSTRACT

A supercomputer, with traffic-modeling software and 5G/6G connectivity, can assist an autonomous vehicle in avoiding, or at least minimizing the expected harm of, an imminent collision. Upon detecting the imminent collision, the autonomous vehicle can transmit a message to an access point, requesting an uncontested direct communication link to the supercomputer, and then transfer sensor data and other traffic data to the supercomputer through the access point. The supercomputer can calculate a multitude of sequences of braking, steering, and accelerating actions of the autonomous vehicle, and can select the sequence that enables the autonomous vehicle to avoid the collision if possible. If all sequences cannot avoid the collision, the supercomputer can select the sequence that results in the least harm (fatalities, injuries, and property damage) in the unavoidable collision. The supercomputer relays the selected best sequence of actions through the access point to the autonomous vehicle, thereby mitigating the collision.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.17/738,424, entitled “Multi-Computer Communication in 5G/6G for TrafficSafety”, filed May 6, 2022, which is a continuation of U.S. patentapplication Ser. No. 17/485,740, entitled “Rapid Wireless Communicationfor Vehicle Collision Mitigation”, filed Sep. 27, 2021, which is acontinuation of U.S. patent application Ser. No. 17/176,451, entitled“Rapid Wireless Communication for Vehicle Collision Mitigation”, filedFeb. 16, 2021, which is a continuation of U.S. patent application Ser.No. 16/920,967, entitled “Rapid Wireless Communication for VehicleCollision Mitigation”, filed Jul. 6, 2020, which is a continuation ofU.S. patent application Ser. No. 16/503,020, entitled “Rapid WirelessCommunication for Vehicle Collision Mitigation”, filed Jul. 3, 2019,which claims the benefit of U.S. Provisional Application Ser. No.62/861,055, filed Jun. 13, 2019 entitled “Rapid Wireless Communicationfor Vehicle Collision Mitigation”, the contents of which areincorporated herein by reference in entirety. This application is alsorelated to U.S. Pat. No. 9,896,096, issued Feb. 20, 2018 entitled“SYSTEMS AND METHODS FOR HAZARD MITIGATION” and U.S. patent applicationSer. No. 16/148,390, filed Oct. 1, 2018 entitled “Blind SpotPotential-Hazard Avoidance System” and U.S. patent application Ser. No.16/390,219, filed Mar. 22, 2019 entitled “Autonomous VehicleLocalization System”, the contents of which are incorporated herein byreference in their entireties.

FIELD OF THE INVENTION

The invention relates to systems and methods for mitigating vehiclecollisions, and more particularly for use of rapid wirelesscommunication technology and supercomputers to avoid collisions, and tominimize the harm of collisions when unavoidable.

BACKGROUND OF THE INVENTION

Most traffic collisions could be avoided if definitive action is takenquickly enough, while harm from those collisions that are trulyunavoidable could be minimized by actively managing the interaction inreal-time. However, at freeway speeds, human reflexes are not fastenough and human judgment not sufficient. Instead, electronic reflexesand speed-of-light signal propagation are needed to enable a wide rangeof collision mitigation options. A suitable collision-avoidance orharm-minimization action must be planned and controlled. Typicallythousands or millions of possible actions must be analyzed and compared,depending on the parameters of each particular collision scenario. Asupercomputer would be needed to rapidly evaluate the imminentcollision, review prior mitigation attempts, create new plans tailoredto the current emergency, select the best option, and begin implementingit, all of which must be performed before the vehicles actually collide.Since vehicles generally do not have supercomputers on-board, it is notpossible to find the best avoidance strategy in a brieftime-to-collision, leading to many unnecessary collisions and thousandsof fatalities.

What is needed is means for a vehicle, facing an imminent collision, toobtain the most effective collision-mitigation strategy, quickly enoughfor it to be implemented.

This Background is provided to introduce a brief context for the Summaryand Detailed Description that follow. This Background is not intended tobe an aid in determining the scope of the claimed subject matter nor beviewed as limiting the claimed subject matter to implementations thatsolve any or all of the disadvantages or problems presented above.

SUMMARY OF THE INVENTION

In a first aspect, there is a method for an autonomous vehicle tomitigate an imminent collision, the method comprising: determining,according to sensor data from sensors mounted in or on the autonomousvehicle, that a collision is imminent; transmitting, to a wirelessaccess point, a request message requesting emergency computationalassistance and an uncontested communication channel to a supercomputer;receiving, from the wireless access point, a reply message acknowledgingthe request message; transmitting, to the wireless access point,responsive to the reply message, a data message comprising traffic data,the traffic data comprising the sensor data or a portion thereof;receiving, from the wireless access point, a recommended sequence ofactions; and implementing the sequence of actions.

In a second aspect, there is a method for a supercomputer to mitigate animminent collision, the method comprising: preparing or installing, inthe supercomputer, software configured to determine a sequence ofactions to mitigate traffic collisions; receiving, from an access point,traffic data regarding an imminent collision; using the software,calculating two or more sequences of actions and determining, accordingto the traffic data, whether each sequence of actions can avoid theimminent collision; if none of the sequences of actions can avoid theimminent collision, using the software to determine which of thesequences of actions is expected to result in the least harm from theimminent collision; and transmitting, to the access point, a recommendedsequence of actions configured to avoid the imminent collision or tominimize the harm of the imminent collision.

In a third aspect, there is a method for a wireless access point tomitigate an imminent collision, the method comprising: receiving, froman autonomous vehicle, a request message requesting emergencycomputational assistance and an uncontested communication channel to asupercomputer; establishing an uncontested communication channel to asupercomputer, and requesting emergency computational assistance fromthe supercomputer; transmitting, to the autonomous vehicle, a replymessage acknowledging the request message; receiving, from theautonomous vehicle, a data message comprising sensor data measured bysensors in or on the autonomous vehicle; and transmitting, to thesupercomputer, the data message.

This Summary is provided to introduce a selection of concepts in asimplified form. The concepts are further described in the DetailedDescription section. Elements or steps other than those described inthis Summary are possible, and no element or step is necessarilyrequired. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended foruse as an aid in determining the scope of the claimed subject matter.The claimed subject matter is not limited to implementations that solveany or all disadvantages noted in any part of this disclosure.

These and other embodiments are described in further detail withreference to the figures and accompanying detailed description asprovided below.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic indicating parts of an exemplary system formitigating collisions with assistance of a supercomputer, according tosome embodiments.

FIG. 2A is a sketch showing an imminent collision including a vehiclewith an exemplary collision mitigation system, according to someembodiments.

FIG. 2B is a sketch of the scenario of FIG. 2A, showing an exemplarymitigation, according to some embodiments.

FIG. 2C is a sketch of the scenario of FIG. 2A, showing a differentmitigation strategy, according to some embodiments.

FIG. 2D is a sketch of the scenario of FIG. 2A, showing how an exemplarylocal access point can prevent a collision, according to someembodiments.

FIG. 3 is a flowchart showing an exemplary method for mitigatingcollisions with assistance of a supercomputer, according to someembodiments.

FIG. 4 is a time-sequence chart showing assistance by an exemplarysupercomputer, according to some embodiments.

DETAILED DESCRIPTION

Systems and methods are disclosed that enable autonomous orsemi-autonomous vehicles to avoid or minimize imminent collisions, withassistance from a land-based computer or a remote supercomputer, usingfast communication technology such as 5G or higher. Embodiments of a“collision-mitigation system” according to present principles mayinclude a “subject” vehicle configured to transmit and receive wirelessmessages, a computer or supercomputer configured to perform collisionmitigation calculations, and high-speed communication technologyconfigured to relay messages between the subject vehicle and thecomputer or supercomputer. The subject vehicle may be configured todetect the imminent collision and to transmit data about the imminentcollision, using the high-speed communication technology, to aland-based access point such as a 5G base station, which may then relaythe data to a land-based computer or a remote supercomputer. Thecomputer or supercomputer may be configured to calculate a sequence ofactions for mitigating the imminent collision, and to communicate thesequence back to the subject vehicle via the land-based access point orbase station. The subject vehicle may be configured to implement thesequence of actions by causing steering, accelerating, and/or brakingactions according to the sequence, thereby mitigating the imminentcollision.

As used herein, a “collision” is physical contact between the subjectvehicle and another vehicle or another object. An “imminent” collisionis a collision which is projected to occur within a short time intervalif no evasive actions are taken by the subject vehicle, the short timeinterval being 1 second or 5 seconds or 10 seconds for example.“Mitigating” an imminent collision means avoiding the collision ifavoidable and minimizing the harm of the collision if unavoidable.“Harm” is a calculated total negative effect, which may includeestimates for loss of life, bodily injury, and property damage, whereineach estimate may be multiplied by a respective predetermined weightingfactor and optionally by a probability factor. The probability factormay be replaced by a full probability analysis, e.g., using Bayesianinference, with total harm as an output and the probability of such harmas a multiplier. Logistic regression or like machine learning may beemployed to personalize the expected effects to a user, e.g., to takeinto account typical user responses, to the extent the autonomousvehicle has some human input. A vehicle is “autonomous” when it isoperated entirely or primarily by an on-board processor with no, or atmost occasional, input from a human. A vehicle is “semi-autonomous” ifit is operated with inputs from both a human and a processor, such as aspeed-control system, an automatic-braking system, a lane-keepingsystem, and the like. A vehicle with an automatic emergency interventionsystem, of the type that operates the vehicle temporarily in anemergency and then returns control to a human, is considered autonomousduring the time that the processor is in control. The subject vehiclemay be autonomous or semi-autonomous. A “second” vehicle is anothervehicle (or sometimes another object) with which an imminent collisionwith the subject vehicle is projected to occur. A computer ortransmitter or receiver is “land-based” if it is not on-board thesubject vehicle. A computer is a “supercomputer” if the computer iscapable of performing many more calculations per second than commonlyavailable computers; examples are provided below. “5G” means fifthgeneration cellular network technology that provides broadband access.“Latency” in communications means the time between transmission andreception of a message. A “sequence of actions” is a series ofinstructions for mitigating the collision, in which each instructionspecifies an action such as an acceleration, braking, or steering of thesubject vehicle, or a waiting interval, or other action that the subjectvehicle can implement. The sequence may include an intensity and/or atime period for each action, such as “brake at 5 m/s² for 2 seconds”.The sequence may include conditionals or branches, such as “steer leftuntil clear of the second vehicle, then steer right until travelingparallel to the lane”. The actions may include non-kinetic actions suchas “sound the horn and illuminate the brake lights” or “send ahelp-request message to emergency responders”, according to someembodiments. The “cloud” is a network of servers configured to provideonline services such as data storage and/or computation, generallytransparently to the user. If the collision is avoidable, the “best”sequence is the particular sequence that avoids the collision with thehighest probability or lowest acceleration or other criterion. On theother hand, if the collision is unavoidable, the best sequence is theparticular sequence that results in the least harm. A collision is“avoidable” if any of the sequences can avoid it, and “unavoidable”otherwise. An imminent collision may be judged unavoidable initially,and then may become avoidable if a suitable sequence is subsequentlydiscovered. Alternatively, an imminent collision that initially appearsto be avoidable may become unavoidable if the avoidance strategy doesnot go well, e.g., if unpredicted unforeseeable intervening eventsoccur.

Embodiments of the collision-mitigation system may include an on-boardprocessor and an on-board wireless transmitter and an on-board wirelessreceiver (which may be configured as a transceiver) on the subjectvehicle. The on-board processor may be configured to detect an imminentcollision and to transmit data about the imminent collision to thesupercomputer using, for example, wireless technology. For example, thewireless technology may include high-speed minimal-latency mobilenetwork technology such as 4G or 5G or higher, or a dedicated(non-network) emergency response communication technology, or otherwireless means for sending and receiving messages. The on-boardprocessor (or other processor) may request or demand maximum-speedcommunication such as an unshared data transfer link with minimallatency for the emergency response. The subject vehicle may communicatewirelessly with a land-based access point (such as a cellular tower or a5G base station or the like) which may include a land-based receiver, aland-based transmitter, a land-based processor, and other electronicsfor wirelessly communicating with the subject vehicle and fortransferring data to the computer. The computer (such as a land-basedcomputer or a remote supercomputer or a plurality of networked serversin the “cloud”) may be configured to analyze the imminent collisiondata, calculate a sequence of actions to mitigate the collision, andtransmit the recommended sequence back to the subject vehicle, generallyusing a land-based access point as a relay station. The subject vehiclemay be configured to receive the recommended sequence and implement itby actuating the brakes, accelerator, and steering of the subjectvehicle as specified in the recommended sequence.

In some embodiments, the on-board processor may be configured tocalculate a local or on-board sequence of actions (independently of thesupercomputer) by analyzing the imminent collision data aftertransmitting the imminent collision data in the wireless request message(that is, at the same time that the supercomputer is also working).After receiving the recommended sequence from the supercomputer, theon-board processor may be configured to compare the on-board sequenceand the recommended sequences (that is, compare the best sequences foundby the on-board processor and by the supercomputer). The on-boardprocessor may be configured to select the best one of those sequences,and may implement the selected sequence. Alternatively, or in addition,the on-board processor may begin implementing its favored on-boardsequence when found, even before receiving the recommended sequence fromthe supercomputer. In that case, the on-board processor may subsequentlycompare the two favored sequences and may switch to the sequencerecommended by the supercomputer if it is better than the currentlyimplemented sequence. Alternatively, or in addition, the land-basedaccess point may include a local processor configured to calculatemitigation sequences and transmit a “local” sequence to the subjectvehicle, in parallel with the remote computer, in which case theon-board processor can select whichever of the on-board sequence and thelocal sequence provides the best mitigation.

Turning now to the figures, FIG. 1 is a schematic illustration of anexemplary collision-mitigation system according to the presentdisclosure. Embodiments of the system may include a subject vehicle 101,wireless signals including a wireless request message 102 and a wirelessresponse message 106, a land-based access point 103 including an antennafor the wireless signals 102 and 106, data transfer means 104 such as anelectrical or fiber-optic cable or a microwave link or othercommunication means, and a computer or supercomputer 105. The subjectvehicle 101 may include an autonomous control system 100 (depicted as astar) including sensors, actuators, an on-board processor, an on-boardtransmitter, and an on-board receiver. The autonomous control system 100may be configured to send the wireless request message 102 upondetecting an imminent collision. The wireless request message 102 mayinclude a request for emergency computational assistance and/or arequest for an uncontested direct communication channel to thesupercomputer 105 via the land-based access point 103. The wirelessrequest message 102 may further include data about the imminentcollision, or alternatively the imminent collision data may be providedin a second transmission after receiving an acknowledgement from theland-based access point 103. In the following examples, the imminentcollision data is assumed to be included in the initial wireless requestmessage 102, unless otherwise indicated.

The land-based access point 103 may include an antenna, a land-basedreceiver, and a land-based transmitter configured to communicate withthe subject vehicle 101, additional electronics such as amplifiers etc.,a transponder configured to transmit the imminent collision data to thesupercomputer 105 via the data transfer means 104, and to receive therecommended sequence via the data transfer means 104. The land-basedaccess point 103 may optionally (shown in dash) include a localprocessor or computer configured to analyze traffic data and selectsuitable sequences to mitigate potential traffic hazards. The land-basedaccess point 103 may transfer the imminent collision data to thesupercomputer 105 for processing. To save time, the land-based accesspoint 103 may begin relaying the data while still receiving the wirelessrequest message 102, instead of waiting until the wireless requestmessage 102 has completed.

The remote computer or supercomputer 105 may include one or more(usually many thousands) of processors, software or firmware suitablefor calculating sequences to mitigate collisions, and electronics tointerface with the data communication means 104. As mentioned, thesupercomputer 105 may include one or more servers (or the like) in the“cloud”, configured to provide calculational services online, andpreferably configured to provide priority status to time-criticaltraffic emergencies. The supercomputer 105 may be configured tocalculate a recommended sequence of actions to mitigate the imminentcollision, and may transfer the recommended sequence (or additionalsequences) to the land-based access point 103. The land-based accesspoint 103 may be configured to transmit a wireless response message 106to the vehicle 101 including the recommended sequence information.

In some embodiments, the subject vehicle 101 may include an autonomouscontrol system 100 including an on-board processor, an on-boardreceiver, an on-board transmitter, internal and external sensors, andactuators. The on-board processor may be an electronic digitalcalculating device or a plurality of such devices, such as a CPU, GPU,ASIC, microcontroller, or other calculating devices suitable forprocessing sensor data and detecting imminent collisions. The on-boardtransmitter and on-board receiver may be configured to communicatewirelessly using, for example, 4G or 5G or another high-speedlow-latency communication protocol. The sensors may include internalsensors configured to monitor or measure parameters internal to thesubject vehicle such as the speed, state of the brakes and steering, andthe like. The sensors may further include external sensors configured tomeasure parameters external to the subject vehicle such as camerasconfigured to detect other vehicles, radar or lidar or sonar or otherdistance-measuring sensors, and the like. (The internal and externalsensors may be mounted anywhere on or in the subject vehicle,irrespective of the internal-external labels used here.) The actuatorsmay include computer-operable transducers or the like, configured tocontrol the subject vehicle's brakes, steering, throttle (or whateverapplies power), and the like. The actuators may also accommodate humaninputs when provided by a human driver.

In some embodiments, the wireless request message 102 (or a separatewireless message) may include a request to obtain exclusive use of adata transfer channel, justified by the extreme time-critical emergency.The wireless request message 102 may also include a time period for theexclusivity, based for example on an estimate of the time-to-collisionas determined by the on-board processor using the imminent collisiondata. Alternatively, the exclusivity may be requested just for theinitial transfer of the imminent collision data, in which case theexclusivity should be renewed by the supercomputer 105 for the transferof the recommended sequence to the land-based access point 103.

In some embodiments, the land-based access point 103 may include anantenna suitable for receiving the wireless request message 102. Theland-based access point 103 may use the same antenna, or a differentantenna, for transmitting the wireless response message 106 to thesubject vehicle 101. The land-based access point 103 may include aland-based receiver and a land-based transmitter (or a transceiver)suitable for receiving the wireless request message 102 and transmittingthe wireless response message 106. The land-based access point 103 mayinclude other analog and/or digital electronics such as amplifiers,filters, switches and the like, as well as a transponder or the likeconfigured to transfer the imminent collision data to the supercomputer105 using the data transfer means 104. For example, the land-basedaccess point 103 may be a wireless communication node or base station ofa 5G network, another type of cellular network, a dedicated transceiverreserved for collision mitigation, or other suitable interfaceelectronics configured to receive and transmit wireless messages to andfrom vehicles in motion.

In some embodiments, the land-based access point 103 may be configuredto transfer imminent collision data and recommended sequences to andfrom the supercomputer 105 using a high-speed low-latency communicationtechnology, which may be wireless or cabled or a mixture of the two. Forexample, the data transfer means 104 may include a cable such as acoaxial electrical cable, a fiber-optic cable, or other device or systemfor transferring the imminent collision data to the supercomputer 105.In addition, the data transfer means 104 may include one or morewireless links such as 5G transfer links, or elements of a fastercommunication technology, or microwave beams, or optical communicationdevices, or other communication technology currently known or discoveredin the future. The data transfer means 104 may be duplex (using a singlecable or the like to transfer data bidirectionally), or it may includeparallel unidirectional beams or cables, or other arrangement suitablefor transferring the imminent collision data and the recommendedsequence of actions between the land-based access point 103 and thesupercomputer 105. If additional electronics or beams or cables or thelike are needed to convey data between the land-based access point 103and the supercomputer 105, such additional elements are collectivelyincluded in the transfer means 104.

In some embodiments, the land-based access point 103 may include a localprocessor configured to analyze traffic data, recognize imminenthazards, select a suitable mitigating sequence, and wirelessly transmitthe mitigating sequence to one or more vehicles. For example, the localprocessor may calculate a mitigating sequence in response to anemergency message from a vehicle, such as the wireless request message102. The land-based access point 103 may include, or have access to, oneor more cameras and/or microphones and/or other sensors configured tomonitor traffic. The local processor may detect a hazardous situationbased on measurements of vehicle speeds and/or accelerations, or fromacoustical information such as the sound of brakes and tires, or otherdata indicating that a hazard is present or imminent. The localprocessor may select, from a predetermined set of responses according tothe hazard detected, a suitable warning, and may transmit that warning,or an associated sequence of actions, to vehicles in range. The warningmay be a simple message such as “hazard in roadway, slow down andprepare to stop!”. Depending on the computational power of the localprocessor, further hazard analysis and sequence selection may bepossible, in which case a more specific warning message may betransmitted to vehicles configured to receive it. Vehicles configured toreceive such warning messages may include autonomous vehicles having anon-board receiver or human-operated vehicles having an automaticemergency intervention system able to respond to such warnings. As afurther example, a human-operated vehicle may be configured to receivewarnings from the land-based access point 103 and automatically playthose warnings using the vehicle's sound system so that the human drivermay respond appropriately to the warning.

In some embodiments, the supercomputer 105 may include one or morecomputers, one or more supercomputers, a computer cluster, a server, aserver “farm”, or other calculating device or system suitable foranalyzing the imminent collision data and calculating a sequence ofactions configured to mitigate the imminent collision. The supercomputer105 may include multiple computers or supercomputers at differentlocations, all working on the sequence calculations at the same time(with each computer preferably analyzing different sequences and beingcoordinated by a central computer or the like). The multiple computersmay include a “local” computer or processor associated with theland-based access point 103, and/or a “regional” computer accessiblefrom a larger area such as a state, and/or a “national” computer such asa supercomputer accessible nationwide, or other arrangement ofcomputers. The supercomputer 105 may include software or firmware or thelike, configured to analyze the imminent collision data and calculatesequences of actions to mitigate the collision. The supercomputer 105may include electronics, such as signal processing electronics,configured to extract the imminent collision data from the data transfermeans 104, and further electronics configured to send the recommendedsequence of actions back along the data transfer means 104. Preferablythe supercomputer 105 is powerful enough and fast enough to calculate aneffective sequence in a time short compared to the time-to-collision, orat least short enough that the subject vehicle 101 can implement it andthereby mitigate the collision.

In some embodiments, each sequence of actions may specify one or moreintervals of acceleration, braking, steering, or waiting, including theintensity and duration of each action. The actions may be sequential, orthey may be concurrent such as steering and braking at the same time, orthey may be staged or overlapping by various amounts. Such overlappingor concurrent instructions are referred to as “sequences” herein,notwithstanding that some actions may overlap in time. Thus, thedefinition of “sequential” is to include not just actions separated intime and one after another but also those that are at least partiallyoverlapping in time. To calculate, or discover, or derive therecommended sequence of actions, the supercomputer 105 may consider manyalternative sequences, and may calculate the effects of each particularsequence by calculating future trajectories for the various vehicles,including the subject vehicle 101 being accelerated and deceleratedaccording to each sequence in turn. The supercomputer 105 may use akinetic model or other software to project the positions and speeds ofthe vehicles forward in time, thereby determining which sequence mayavoid the collision. If multiple such sequences are found to avoid thecollision, the supercomputer 105 may select a best sequence based onminimizing the amount of acceleration or braking or steering involved,or based on maximizing the probability of success given that the futureactions of the other vehicles are not yet known, or other criteria.Alternatively, the supercomputer 105 may be configured to recommend thefirst avoidance sequence that it finds (that is, the first sequence thatis projected to avoid the collision), or the lowest-harm sequence so fardiscovered (if none are avoidable), so that the subject vehicle 101 canget started on it as soon as possible.

If, on the other hand, none of the sequences (so far calculated) canavoid the collision, then the imminent collision is termed unavoidable,in which case the supercomputer 105 may recommend a “least-harm”sequence. For example, the supercomputer 105 may be configured tocalculate a harm value associated with each sequence that results in acollision, and may recommend the particular sequence that is calculatedto cause the least amount of harm among all of the sequences so faranalyzed. In calculating the harm, the supercomputer may employ adynamical model of the collision such as a 3-dimensional simulation ofvehicle structures being stressed by the collision forces. The harmcalculation may determine the peak acceleration and/or the peak jolt(“jolt” equals the rate-of-change of acceleration) experienced by thepassengers, and other collision factors affecting the expected number offatalities, injuries, and property damage caused by the collision. Theharm calculation, including the dynamical modeling, may be repeated foreach of the sequences.

In some embodiments, the supercomputer 105 may be configured tocommunicate the best sequence so far obtained to the subject vehicle ata particular time. The supercomputer 105 may continue to calculatefurther sequences in an ongoing attempt to find a better sequence, upuntil the projected time-to-collision or other deadline. If a bettersequence is found, such as a sequence that converts a previouslyunavoidable collision into an avoidable one, or a sequence that resultsin significantly less harm, then the supercomputer 105 may send thatimproved sequence to the subject vehicle 101, and the subject vehicle101 may switch to it, if still possible. In addition, the supercomputer105 may be configured to include the actions that the subject vehicle101 has already performed while implementing the first-recommendedsequence, and thereby make the improved or second-recommended sequencedoable by the subject vehicle 101. For example, if the first recommendedsequence is to accelerate and turn left, while the improved sequence isto decelerate and turn right, it may be difficult for the subjectvehicle 101 to accomplish in a short time.

In some embodiments, the on-board processor of the subject vehicle 101may analyze its own version of sequences, working in parallel with thesupercomputer 105. Then, after receiving the response message 106specifying the recommended sequence, the on-board processor can comparethe recommended sequence with its own best result, and thereby selectthe most effective of all the sequences for implementation. In addition,as the scenario evolves and conditions change, the on-board processormay send additional wireless messages to the supercomputer 105indicating which sequence is being implemented, the actual positions andvelocities of the various vehicles, and further relevant data at varioustimes during the implementation period, so that the supercomputer 105can adjust its continuing sequence exploration using the corrected andupdated parameters.

Many imminent collisions have a short time-to-collision such as 1 secondor 5 seconds or 10 seconds. If the collision is avoidable, then clearlythe subject vehicle should receive the recommended sequence in time toimplement it. If the collision is unavoidable, the response time is evenmore critical since the amount of harm generally increases rapidly withdelay. For these reasons and others, it is critical that the imminentcollision data be transferred very quickly to the supercomputer 105; itis crucial that the supercomputer 105 be powerful enough to determine aneffective sequence in a very short time; and it is crucial that thesequence then be transferred back to the subject vehicle 101 veryquickly.

The wireless request and response messages 102-106 must therefore bebrief, communicated rapidly, at high bit rate and with minimal latency.In some embodiments, the messages may be encoded for brevity to minimizetransmission time, using for example a terse bit-pattern code forexpected parameters such as angles, distances, velocities of othervehicles and the like. The wireless request message 102 may demand adedicated communication channel to avoid being hindered by otherlower-priority messages. In some embodiments, the wireless requestmessage 102 can demand an exclusive communication channel extending fromthe subject vehicle 101 through the land-based access point 103 directlyto the supercomputer 105. In that case, other lower-priority activity onthe requested channel may be dropped, typically without warning andwithout hesitation. The exclusivity may be maintained throughout theimminent collision period so that the subject vehicle 101 can update thesupercomputer 105 with current parameters at will, and the supercomputer105 can transfer successively improved sequences back to the subjectvehicle 101 unrestricted. However, if the exclusivity request hasexpired by the time the supercomputer 105 is ready to send therecommended sequence back, the supercomputer 105 may again demand theexclusive and unhindered channel through to the subject vehicle 101.

With advanced communication technology such as 5G and others, latenciesas short a 1-10 milliseconds are achievable, and this can be reducedfurther (less than 1 millisecond) with dedicated electronics to respondto emergencies. The wireless request message 102 may be condensed into asmall data package, such as 1 megabyte or less in most cases. Preferablythere is no need to send images or other large files. For example, theon-board processor may prepare the imminent collision data to includethe locations, bearing, and speed of the other vehicles relative to thesubject vehicle, plus an encoded description of the roadway as, forexample, single-lane, two-way, divided freeway, and the like. 5Gtechnology can have a transfer rate of 1-10 gigabits per second(sometimes higher); hence the 1 megabyte wireless request message 102(totaling about 10 megabits including parity, start and stop icons, andother necessary attachments) may be transferred in 1-2 millisecondsafter latency. The wireless response message 106 is likely much smallerthan the imminent collision data in most cases, but will be assumed hereto take an additional 1-2 milliseconds. Additional few milliseconds maybe needed for readiness verification and other hand-shaking.

To achieve the necessary speed and computing power, in some embodiments,the supercomputer 105 may include a large number of processing units (or“cores”) operating in parallel, such as 10,000 or 100,000 or 1,000,000cores or more. Each core may be driven at a high clock speed such as 4or 5 GHz or even more in a brief “burst” mode. The computationalcapability may be measured in “flops” (floating-point operations persecond), or more conveniently in “petaflops” (1 petaflop equals 1thousand million million or one quadrillion or 10¹⁵ floating-pointoperations per second). For example, the supercomputer 105 may have acapability of 0.1 or 10 or 100 petaflops or more. To consider a specificscenario, the supercomputer 105 may require a large number offloating-point operations, such as 10 million floating point operations,to analyze each sequence. This many floating-point operations may beneeded to project the vehicle motions forward in time, perform collisionanalysis including dynamical modeling of the effects of collision, andcalculating the harm for example. Furthermore, in searching for aneffective sequence to mitigate a complex collision scenario, thesupercomputer 105 may need to calculate a large number, such as 10million, different sequences before selecting one to recommended for thecollision scenario at hand. With those numbers, then, the total numberof floating-point operations required for the response equals 10¹⁴operations. A computer with a 1-petaflop computational capability can dothis in 100 milliseconds (0.1 second).

The total response time is then found by adding the expected latencies,message transfer rates, possible handshaking, and computation interval.With the assumptions listed above, the time required from the initialwireless help request message 102 to the supercomputer beginning itssearch, is likely well below 50 milliseconds, the search time is 100milliseconds as mentioned, and the time to get the recommended sequenceback to the subject vehicle 101 is less than 50 milliseconds, or 200milliseconds in all (0.2 seconds). Mitigating a more complex collisionscenario involving several vehicles and environmental objects may takelonger, perhaps 0.5 seconds. For comparison, most human drivers requireat least 0.7-1.2 seconds to execute a panic reflex action such as simplyhitting the brakes. The collision-mitigation system with supercomputerassistance may thus provide a better sequence of actions than any humancould figure out in the available time, and faster than any human couldreact, and begin implementing it automatically before a human drivercould even hit the brakes. The system may thereby avoid many unnecessarycollisions and save countless lives.

FIG. 2A is a notional sketch of a collision scenario including anexemplary system for mitigating collisions. A subject vehicle 201 istraveling in a multilane divided highway. Lane lines 207 demark twolanes going in the same direction, separated from the opposite lanes(not shown) by a concrete barrier 208. A stalled vehicle 209 (marked byan X) has stopped in lanes, but the subject vehicle's autonomouscomputer or driver is unaware of the hazard because the view is obscuredby an intervening vehicle 212. The intervening vehicle 212 quicklychanges lanes as indicated by a dashed arrow 211, which suddenly revealsthe stalled vehicle 209. This kind of “sudden-reveal” is a common andvery dangerous situation because it leaves insufficient time for theapproaching vehicles to react. In this case, the subject vehicle 201 isgoing too fast to stop before hitting the stalled vehicle 202. Theon-board processor calculates that the subject vehicle 201 will collidewith the stalled vehicle 209 at a dangerously high speed even if thebrakes are applied immediately and maximally. The collision will subjectthe occupants of both vehicles to high peak accelerations and peak jolt,sufficient to cause serious injury or death. Unfortunately, the subjectvehicle 201 cannot change lanes because a long truck 210 is in the way.The subject vehicle 101 cannot swerve around the stalled vehicle 209 onthe left because there is not enough space between the concrete divider208 and the stalled vehicle 209. In this situation, most human drivers(and most prior-art autonomous systems) would simply lock the brakes andhang on.

Fortunately, the subject vehicle 201 includes an on-board system 200including an on-board processor, and on-board transceiver, sensors, andactuators such as described in FIG. 1 , and also is in range of aland-based wireless access point 203. The subject vehicle 201 thereforetransmits a wireless request message 202, which includes a request forcomputational assistance along with the imminent collision data.Although the on-board processor neglected to demand an exclusivecommunication channel, the land-based access point 203 is configured toterminate competing messages in an emergency, and thereby transfers theimminent collision data to a supercomputer 205 via a fast uncontestedcommunication channel 204. The supercomputer 205 then analyzes theimminent collision data, calculates a large number of mitigationsequences, and determines that none of them can avoid the collision,hence the collision is unavoidable. The supercomputer 205 then (if notsooner) calculates the harm expected in each of the sequences (or in asubset of the sequences, selected for feasibility or other quality), andselects the sequence that causes the least harm, and sends therecommended sequence to the land-based access point 203 which relays therecommended sequence to the subject vehicle 201 in the form of awireless response message 206. The action continues in FIG. 2B.

FIG. 2B shows the same scene as FIG. 2A but 2-3 seconds later. Therecommended sequence, being implemented by the subject vehicle 201, hascaused the on-board system 200 of the subject vehicle 201 to reduce thebraking pressure briefly in order to enable maneuvering withoutskidding, and simultaneously to swerve left even though there is notenough room. The subject vehicle 101 is then instructed to slide againstthe concrete barrier 208 while now braking as hard as possible, in orderto dissipate some of its kinetic energy, and to aim for the small spacebetween the second vehicle 202 and the concrete barrier 208. The subjectvehicle 201 thereby follows the trajectory indicated as 213, losingenergy rapidly while braking and grinding along the concrete barrier208. The subject vehicle 201 then collides tangentially along the sideof the stalled vehicle 208, continuing to plow forward through thecollision until finally stopping. Jagged lines indicate the damagezones, which are extensive. Both of the vehicles 201-208 are totaled, ofcourse, but they would have been anyway. The important thing is that theoccupants survived with minimal harm since the collision process wasrendered relatively gradual by the manner in which the kinetic energywas dissipated during an extended time period, along the widelydistributed crumple zones, thereby avoiding peak accelerations evenduring the collision process, and especially minimizing the peak joltexperienced by the occupants. The supercomputer 205 thus found asequence of actions that minimized the harm, in what would otherwisehave been a much more serious collision.

FIG. 2C shows a different mitigation of the imminent collision of FIG.2A, with even better results. Here the truck 210 is assumed to beautonomous or semi-autonomous with an emergency intervention system 216.The emergency intervention system 216 includes a transceiver and aprocessor configured to control the brakes and other items of the truck210. The land-based access point 203 is thus able to communicate withthe truck 210 via the emergency intervention system 216. Thesupercomputer 205, after receiving the wireless request message 202 fromthe subject vehicle 201, may send a wireless command message 215 to thetruck 210, instructing it to immediately begin braking as hard aspossible. The truck 210 did so, and thereby opened up sufficient spaceto allow the subject vehicle 201 to squeeze in (214) behind theintervening vehicle 212, thereby avoiding the collision entirely. Thekey to this solution is the ability of the supercomputer 205 tocommunicate directly and near-instantaneously with the truck 210, andthe ability of the truck 210 to respond near-instantaneously toemergency commands.

FIG. 2D shows yet another mitigation option. Here the stalled vehicle209 includes an on-board system 219 as described with FIG. 1 , which isable to communicate wirelessly with the land-based access point 103.Thus the stalled vehicle system 219 sends an emergency alert wirelessmessage 220 to the land-based access point 203, informing that thevehicle is stalled in traffic lanes. The local access point 203, or itsincluded local processor, then sent a broadcast warning to informoncoming traffic, and particularly sent a warning message 221 to thesubject vehicle 201 instructing it to slow down and be prepared to stop.In response, the on-board system 200 of the subject vehicle 201 begandecelerating as indicated by the brake lights 218 as soon as it receivedthe warning message 221, which was substantially before the interveningvehicle 212 started its move 211. Then, when the stalled vehicle 209 wassubsequently revealed to the subject vehicle 201, the subject vehicle201 had decelerated sufficiently that it was able to stop before hittingthe stalled vehicle 209, thereby avoiding the collision. Any additionalvehicles approaching in the same lane may also have time to stop, byseeing the brake lights 218 or by receiving the warning message 221 forexample. In this case, the local access point 203 provided themitigation without assistance from the supercomputer 205, sinceextensive computation was not necessary. In a more complicatedsituation, or in the scenario depicted but without the warning message221, the land-based access point 203 may have transferred the trafficdata to the supercomputer 205 for additional computational backup, butmay still have transmitted the warning message 221 as soon as itreceived the wireless request message 202, so that other vehicles in thearea may be warned that a hazard was developing. In this way, theland-based access point 203 may operate both independently of thesupercomputer 205 and cooperatively with the supercomputer 205, to findand communicate the best solutions to traffic hazards in real-time.

FIG. 3 is a flowchart showing an exemplary method for mitigatingcollisions with supercomputer assistance. Actions of the subject vehicleare shown on the left, and actions of the “remote” supercomputer areshown on the right. In this example, the supercomputer is assumed to belocated a substantial distance (such as hundreds or thousands ofkilometers) from the land-based access point, and to be capable of veryhigh computational power. Other versions are described below.

At 301, the subject vehicle scans traffic and detects an imminentcollision. It quickly contacts 302 the nearest land-based access point,demanding an unshared emergency-priority data channel to asupercomputer, and then transmits the imminent collision data 303wirelessly. The land-based access point (in cooperation with otherdownstream electronics) abruptly terminates any competing messages andopens a dedicated, straight-through communication channel to thesupercomputer, and transfers the imminent collision data to thesupercomputer at 304. The supercomputer analyzes 305 the data,calculates collision scenarios according to various sequences ofactions, determines whether the collision is avoidable, and calculatesan avoidance sequence if the collision is avoidable or aharm-minimization sequence if unavoidable. The supercomputer then routes306 the recommended sequence back to the land-based access point whichwirelessly transmits it to the subject vehicle. In the meantime, theon-board processor calculates 307 as many sequences as it can in theshort interval. In this way, the on-board processor prepares a“fallback” plan which it can use in case the communication link to thesupercomputer fails, or the supercomputer is busy with another collisionemergency, or some other problem arises. In this way, the subjectvehicle is not dependent on the supercomputer, and uses its ownresources to find as good a sequence as possible, simultaneously andindependently of the supercomputer.

Optionally (shown in dash) the subject vehicle may begin 308implementing the best sequence that it has found on-board, even beforehearing from the supercomputer. The on-board processor, although not aspowerful as the supercomputer, can at least do something to mitigate thecollision, and therefore may decide to get started before receiving therecommended sequence. As a further option (not shown) the subjectvehicle can send a message to the supercomputer informing it that thesubject vehicle has started implementing its own action sequence, sothat the supercomputer can take into consideration the updated motion,including position and acceleration, while calculating furthermitigation sequences.

At 309, the on-board processor has received the response message fromthe supercomputer. The on-board processor compares its own best sequencewith that recommended by the supercomputer, selects the best of all, andproceeds to implement the best sequence.

As a further option 310-312, the subject vehicle and/or thesupercomputer and/or the land-based access point can send a message tolocal authorities alerting them that a crash is imminent at a particularlocation, and other data. In addition, the on-board processor and/or thesupercomputer may continue to calculate sequences 311-313 even after therecommended sequence has been transmitted and put into action. Thecalculations may continue until the collision occurs or is finallyavoided, the intent being to find an even better sequence that can beimplemented in time. In many collision scenarios, an opportunity mayappear at the last second in which the severity can be reduced by theright motion, which may not be predictable in advance. Therefore, theon-board processor may update the supercomputer throughout this time andmay listen for any last-second advice from the supercomputer. Theexclusive communication link may be released as soon as the collision iscompleted or is avoided. Alternatively, the exclusive channel may bemaintained longer, if there is reason to continue using thesupercomputer's services, for example to avoid a secondary threat fromoncoming traffic.

The example calls upon a remote computer to calculate a mitigatingsequence. As an alternative, the local processor at the land-basedaccess point may be able to do it. For example, at 304 (highlightedbox), the imminent collision data may be retained at the land-basedaccess point and processed by the local processor, instead of being sentto a remote computer. The choice of whether to analyze the data locallyor with the remote computer may depend on the complexity of the imminentcollision, the amount of time available before the collision, the localprocessing power, and other factors. In a collision scenario that has aneasily discerned action that will avoid the collision with highprobability, the local processor may transmit that sequence to thesubject vehicle without involving the remote computer. As a furtheralternative, all three entities—the on-board processor, the localprocessor at the land-based access point, and the remotesupercomputer—may be tasked with calculations simultaneously. If allthree entities provide different sequences, the on-board processor ispreferably the one to decide which sequence has the best chance ofavoiding the collision.

FIG. 4 is a schematic showing an exemplary time series of operationsrelated to the mitigation of an imminent collision, with assistance froma supercomputer. Three horizontal lines show actions related to asubject vehicle, a land-based access point, and a supercomputer,respectively, at different locations. Time is the horizontal axis.Actions are indicated by boxes. Information transfers between locationsare indicated by heavy arrows.

Initially, the subject vehicle scans traffic using its sensors anddetermines that a collision is imminent. The subject vehicle then sendsa wireless signal demanding an uncontested communication channel on anemergency basis. The land-based access point responds by abruptlyterminating any low-priority messages (“chatter” shown by cross-hatch)and establishes an interference-free communication channel for thesubject vehicle, then sends a wireless message acknowledging the demandback to the subject vehicle. The subject vehicle then sends a secondwireless message containing the imminent collision data, such as thepositions and velocities of the other vehicles relative to the subjectvehicle, and also the conditions of the roadway, and other relevantinformation. The land-based access point receives the imminent collisiondata and relays the data to the supercomputer. The supercomputer thencalculates sequences of actions, typically a very large number ofsequences of actions, to determine if any of them can avoid thecollision, and if not, which sequence provides the least harm. Thesupercomputer thereby selects a particular sequence to recommend andsends the recommended sequence back to the land-based access point,which relays the sequence to the subject vehicle as a wireless responsemessage. The subject vehicle receives the recommended sequence andimplements it by activating the brakes, steering, and throttle accordingto the recommended sequence, thereby mitigating the collision.

The depicted scenario affords many optional variations, some of whichare shown in dash. (a) The subject vehicle may insert the imminentcollision data into the initial wireless signal which also demands clearaccess, rather than waiting for the acknowledgement, thereby saving alittle time. (b) The on-board processor may calculate its own sequencesof actions (shown in light stipple) after sending the imminent collisiondata. (c) The on-board processor may also select one of the on-boardsequences and begin implementing it (diamond hatch) before receivinganything back from the supercomputer. Calculating the on-board sequenceand beginning to implement it may be advantageous if there were acommunication interruption or other delay preventing the supercomputerfrom helping the subject vehicle. The subject vehicle may thus remainself-sufficient and not dependent on remote assistance which may notarrive for various reasons. In this case, the recommended sequence doesarrive, at which time the on-board processor can decide (d) whether toswitch to the recommended sequence or continue implementing the on-boardsequence already started. If the recommended sequence is able to avoidthe collision whereas the on-board sequence is only able to minimize theharm, then of course the on-board processor will switch to therecommended sequence, assuming there is still time to implement theavoidance sequence. Likewise if the recommended sequence promises lessharm then the on-board sequence, then again the on-board processor mayswitch to it. However, if the on-board sequence is better than therecommended sequence, or if there is simply not enough time to implementthe recommended sequence, then the on-board processor may decide tocontinue implementing the sequence already in progress.

As a further option, (e) the local processor of the land-based accesspoint may perform its own calculations after transferring the imminentcollision data to the supercomputer (or concurrently), therebypotentially finding yet another sequence (a “local” sequence) forconsideration. The land-based access point can transmit its localsequence to the subject vehicle as soon as a suitable sequence isdiscovered, or alternatively the land-based access point may transmitthe local sequence along with the recommended sequence of thesupercomputer in a single wireless response message, or otherwise. Ifthe recommended sequence is clearly superior (such as avoiding thecollision while the local sequence does not), then the land-based accesspoint may withhold its local sequence, to save time and avoid confusion.In this way all three entities—on-board processor, local processor, andremote supercomputer—work together to help the subject vehicle mitigatethe imminent collision.

As a further option (f) the supercomputer and/or the on-board processorand/or the local processor may continue to explore further sequenceseven after the recommended sequence has been delivered, in the hope offinding an even better outcome in time to carry it out. Especially asthe time-to-collision approaches, a last-second adjustment in steeringfor example may make a significant difference in the amount of harm ifimplemented in time. Also, the on-board processor, the local processor,and the supercomputer may communicate repeatedly during the sequencesearch process, and thereafter, to update each other according to theactual trajectories of the vehicles involved and any other unexpectedevents that may relate to the mitigation.

As a further option (not shown), the land-based access point may allowlow-priority messages to resume after relaying the imminent collisiondata to the land-based computer, and likewise may resume low-prioritymessages after relaying the recommended sequence to the subject vehicle,or at other times. However, if it does so, preferably the land-basedaccess point is prepared to interrupt those messages abruptly wheneverthe on-board processor or the supercomputer initiates a communication.

The various messages and actions in the chart are shown occupyingseparate (non-overlapping) time intervals, but in a practical systemmany of these actions may be performed concurrently in order to savetime. For example, the land-based access point (acting as a bitwiserelay) may begin transferring the imminent collision data to thesupercomputer while still receiving the wireless request message (orwhichever wireless message includes the imminent collision data).Likewise the land-based access point may relay the recommended sequenceto the subject vehicle while the sequence is still being transferredfrom the supercomputer, since they likely involve separate electronicsand can be configured to operate at the same time. In addition, theon-board processor may begin implementing the recommended sequence evenwhile the wireless response message is in progress, for example byimplementing the first action in the sequence, thereby saving preciousmilliseconds. In an imminent collision scenario, milliseconds savelives.

Also not shown are steps and options for the supercomputer and/or theon-board processor and/or the local processor to calculate sequencesbased on a catalog of previously-successful sequences. In some cases itmay save time to start with sequences that have been used previously inclosely-related collision scenarios, and then varying parameters ofthose previously-successful sequences to adapt them to the presentemergency. If none of the previously-successful sequences issatisfactory, then the processor may proceed to invent new sequences.The catalog of previously-successful sequences, and the conditions underwhich they have been suitable, may be stored within or proximate to eachof those processors as non-volatile data, accessible and readable by therespective processors when needed.

As a further option, the supercomputer (or other remote computer, ornonspecific data storage maintained in the “cloud”) may contain thecatalog of previously-successful sequences, as well as the conditionsunder which those sequences may be suitable. Then, any of the aboveprocessors (that is, the on-board processor, the local processor at theland-based access point, or the remote supercomputer or other computerassisting in collision mitigation) can retrieve the relevantpreviously-successful sequences, and can adapt them to the emergency athand.

As a further option, the supercomputer may draw upon other computers,such as other supercomputers in a regional or nationwide grid (or aglobal grid if connected by speed-of-light communication) or in the“cloud” of networked processors. The supercomputer may thereby obtainfurther computational power, data backup, software redundancy, etc.

The collision-mitigation systems and methods disclosed herein canprovide numerous benefits not available heretofore. Embodiments canemploy the superior calculational power of a local computer, a remotecomputer cluster, a national supercomputer, or the like to select abeneficial sequence of actions in a traffic emergency. The supercomputer(or the like) typically has many thousands of times greater computingpower than the subject vehicle, and therefore is able to explore a muchwider range of sequences with higher precision. The supercomputer mayalso be able to perform the difficult dynamical modeling calculations,that relate the impact parameters to the harm estimates, in the limitedtime available. Dynamical collision modeling may be needed to determinewhich sequence minimizes the harm, depending on just how the vehiclescome together. Teamed with fast communication protocols and fastwireless access points, the supercomputer can thus assist the subjectvehicle in avoiding, or at least minimizing, imminent collisions.

The system and method may be fully implemented in any number ofcomputing devices. Typically, instructions are laid out on computerreadable media, generally non-transitory, and these instructions aresufficient to allow a processor in the computing device to implement themethod of the invention. The computer readable medium may be a harddrive or solid state storage having instructions that, when run, orsooner, are loaded into random access memory. Inputs to the application,e.g., from the plurality of users or from any one user, may be by anynumber of appropriate computer input devices. For example, users mayemploy vehicular controls, as well as a keyboard, mouse, touchscreen,joystick, trackpad, other pointing device, or any other such computerinput device to input data relevant to the calculations. Data may alsobe input by way of one or more sensors on the robot, an inserted memorychip, hard drive, flash drives, flash memory, optical media, magneticmedia, or any other type of file—storing medium. The outputs may bedelivered to a user by way of signals transmitted to robot steering andthrottle controls, a video graphics card or integrated graphics chipsetcoupled to a display that maybe seen by a user. Given this teaching, anynumber of other tangible outputs will also be understood to becontemplated by the invention. For example, outputs may be stored on amemory chip, hard drive, flash drives, flash memory, optical media,magnetic media, or any other type of output. It should also be notedthat the invention may be implemented on any number of different typesof computing devices, e.g., embedded systems and processors, personalcomputers, laptop computers, notebook computers, net book computers,handheld computers, personal digital assistants, mobile phones, smartphones, tablet computers, and also on devices specifically designed forthese purpose. In one implementation, a user of a smart phone orWiFi-connected device downloads a copy of the application to theirdevice from a server using a wireless Internet connection. Anappropriate authentication procedure and secure transaction process mayprovide for payment to be made to the seller. The application maydownload over the mobile connection, or over the WiFi or other wirelessnetwork connection. The application may then be run by the user. Such anetworked system may provide a suitable computing environment for animplementation in which a plurality of users provide separate inputs tothe system and method. In the below system where robot controls arecontemplated, the plural inputs may allow plural users to input relevantdata at the same time.

It is to be understood that the foregoing description is not adefinition of the invention but is a description of one or morepreferred exemplary embodiments of the invention. The invention is notlimited to the particular embodiments(s) disclosed herein, but rather isdefined solely by the claims below. Furthermore, the statementscontained in the foregoing description relate to particular embodimentsand are not to be construed as limitations on the scope of the inventionor on the definition of terms used in the claims, except where a term orphrase is expressly defined above. Various other embodiments and variouschanges and modifications to the disclosed embodiment(s) will becomeapparent to those skilled in the art. For example, the specificcombination and order of steps is just one possibility, as the presentmethod may include a combination of steps that has fewer, greater, ordifferent steps than that shown here. All such other embodiments,changes, and modifications are intended to come within the scope of theappended claims.

As used in this specification and claims, the terms “for example”,“e.g.”, “for instance”, “such as”, and “like” and the terms“comprising”, “having”, “including”, and their other verb forms, whenused in conjunction with a listing of one or more components or otheritems, are each to be construed as open-ended, meaning that the listingis not to be considered as excluding other additional components oritems. Other terms are to be construed using their broadest reasonablemeaning unless they are used in a context that requires a differentinterpretation.

1. A method for an autonomous vehicle to mitigate an imminent collision,the method comprising: a) determining, according to sensor data fromsensors mounted in or on the autonomous vehicle, that a collision isimminent; b) transmitting, to a wireless access point, a request messagerequesting emergency computational assistance and an uncontestedcommunication channel to a supercomputer; c) receiving, from thewireless access point, a reply message acknowledging the requestmessage; d) transmitting, to the wireless access point, responsive tothe reply message, a data message comprising traffic data, the trafficdata comprising the sensor data or a portion thereof; e) receiving, fromthe wireless access point, a recommended sequence of actions; and f)implementing the sequence of actions.
 2. The method of claim 1, whereinthe request message is transmitted according to 5G or 6G technology. 3.The method of claim 1, wherein the recommended sequence of actions isconfigured to avoid the imminent collision if avoidable, and to minimizeharm of the imminent collision if unavoidable.
 4. The method of claim 1,wherein the request message further comprises an expiration time for theuncontested communication channel, the expiration time related to anestimated time of the imminent collision.
 5. The method of claim 1,further comprising: a) receiving, from the access point, a secondsequence of actions determined by a computer associated with the accesspoint; and b) determining, using a processor mounted in or on theautonomous vehicle, a third sequence of actions.
 6. The method of claim5, further comprising: a) selecting, from the recommended sequence ofactions and the second sequence of actions and the third sequence ofactions, a preferred sequence of actions; and b) implementing thepreferred sequence of actions.
 7. The method of claim 1, furthercomprising: a) receiving, from the access point, a human-directedmessage comprising verbal information; and b) presenting the verbalinformation to a human in the autonomous vehicle, using a visual displayor a sound system in the autonomous vehicle.
 8. A method for a wirelessaccess point to mitigate an imminent collision, the method comprising:a) receiving, from an autonomous vehicle, a request message requestingemergency computational assistance and an uncontested communicationchannel to a supercomputer; b) establishing an uncontested communicationchannel to a supercomputer, and requesting emergency computationalassistance from the supercomputer; c) transmitting, to the autonomousvehicle, a reply message acknowledging the request message; d)receiving, from the autonomous vehicle, a data message comprising sensordata measured by sensors in or on the autonomous vehicle; and e)transmitting, to the supercomputer, the data message.
 9. The method ofclaim 8, further comprising: a) receiving, from the supercomputer, arecommended sequence of actions; and b) transmitting, to the autonomousvehicle, the recommended sequence of actions.
 10. The method of claim 8,further comprising: a) determining, by a computer associated with theaccess point, a second sequence of actions configured to mitigate theimminent collision; and b) transmitting the second sequence of actionsto the autonomous vehicle.
 11. The method of claim 8, furthercomprising: a) determining that a second autonomous vehicle is involvedin the imminent collision; and b) transmitting an alarm message to thesecond autonomous vehicle.
 12. The method of claim 11, furthercomprising a) using a computer associated with the access point,determining an alternative sequence of actions configured to cause thesecond autonomous vehicle to mitigate the imminent collision; and b)transmitting, to the second autonomous vehicle, a message comprising thealternative sequence of actions.
 13. The method of claim 8, furthercomprising: a) responsive to the request message, broadcasting a messagerequiring users in range of the access point, other than the autonomousvehicle, to cease transmitting for a predetermined time; b) wherein thepredetermined time is an estimated time of the imminent collision. 14.The method of claim 8, further comprising: a) after the imminentcollision, transmitting a status request message to the autonomousvehicle, the status request message configured to determine a conditionof the autonomous vehicle; and b) upon receiving no response to thestatus request message, transmitting a help request message to afirst-responder station, the help request message requesting emergencyassistance.
 15. A method for a supercomputer to mitigate an imminentcollision, the method comprising: a) preparing or installing, in thesupercomputer, software configured to determine a sequence of actions tomitigate traffic collisions; b) receiving, from an access point, trafficdata regarding an imminent collision; c) using the software, calculatingtwo or more sequences of actions and determining, according to thetraffic data, whether each sequence of actions can avoid the imminentcollision; d) if none of the sequences of actions can avoid the imminentcollision, using the software to determine which of the sequences ofactions is expected to result in the least harm from the imminentcollision; and e) transmitting, to the access point, a recommendedsequence of actions configured to avoid the imminent collision or tominimize the harm of the imminent collision.
 16. The method of claim 15,wherein: a) the traffic data is received by the supercomputer using anuncontested communication channel between the supercomputer and theaccess point; and b) the recommended sequence of actions is transmittedby the supercomputer using an uncontested communication channel betweenthe supercomputer and the access point.
 17. The method of claim 15,further comprising: a) after transmitting the recommended sequence ofactions, continuing to calculate additional sequences of actions and todetermine whether any of the additional sequences of actions can avoidthe imminent collision or minimize the harm of the imminent collision;and b) if a particular sequence of actions, of the additional sequencesof actions, is expected to avoid the imminent collision, while therecommended sequence of actions is not expected to avoid the imminentcollision, transmitting the particular sequence of actions to the accesspoint.
 18. The method of claim 17, further comprising: a) if aparticular sequence of actions, of the additional sequences of actions,is expected to result in less harm than the recommended sequence ofactions, transmitting the particular sequence of actions to the accesspoint.
 19. The method of claim 15, further comprising: a) for eachsequence of actions, determining a maximum acceleration experienced by avehicle in the imminent collision; and b) if two or more of thesequences of actions can avoid the imminent collision, selecting, as therecommended sequence of actions, the sequence of actions that results inthe lowest maximum acceleration experienced by a vehicle in the imminentcollision.
 20. The method of claim 15, further comprising: a) for eachsequence of actions that cannot avoid the imminent collision,determining the harm of the imminent collision according to an estimatednumber of fatalities, and an estimated number of injuries, and anestimated amount of property damage, of the imminent collision.